Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.005a.svgz" name="5703820.fig.005a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Acceleration commands</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.005b.svgz" name="5703820.fig.005b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Payload trajectory</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.005c.svgz" name="5703820.fig.005c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>FM acceleration and velocity</td></tr><tr class="fig-image" id="d"><td><object data="https://static.hindawi.com/articles/sv/volume-2017/5703820/figures/5703820.fig.005d.svgz" name="5703820.fig.005d" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(d) </b>Payload oscillation angle</td></tr></table>

<div>Simultaneous travel and hoisting maneuver using FM shaped command with primary ZV input shaper.</div>

Shock and Vibration

fig5

Figure 5

Figure 5: Simultaneous Travel and Hoist Maneuver Input Shaping Control Using Frequency Modulation 